Frequency chasing method and frequency chasing device of ultrasonic knife and ultrasonic knife equipment

Abstract

The invention relates to a frequency chasing method and device of an ultrasonic knife and ultrasonic knife equipment. The method comprises the steps that the working frequency, the phase difference and the impedance value of the ultrasonic knife at the current moment and the working state of the ultrasonic knife at the last moment in the working process are obtained; according to the working frequency of the ultrasonic knife at the current moment, or the working frequency of the current moment and the phase difference, or the working frequency of the current moment, the phase difference and the impedance value, or the working frequency of the current moment, the phase difference and the working state of the previous moment, or the working frequency of the current moment, the phase difference, the impedance value and the working state of the previous moment; determining the working state of the ultrasonic knife at the current moment; and according to the working state of the ultrasonic knife at the current moment, frequency chasing processing matched with the working state at the current moment is executed, so that the ultrasonic knife works at the resonant frequency. Therefore, the ultrasonic knife can be successfully subjected to frequency chasing at any initial frequency, the frequency chasing robustness of the ultrasonic knife is improved, and the capacity of the ultrasonic knife for adapting to complex working condition scenes is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a frequency tracking method, a frequency tracking device and an ultrasonic scalpel device. Background Art

[0002] Ultrasonic soft tissue surgery equipment (hereinafter referred to as ultrasonic knife) is a surgical instrument that uses ultrasound to drive the blade to vibrate mechanically, tearing biological tissue cells through high-frequency mechanical vibration, and thus cutting biological soft tissue. Because it can stop bleeding while cutting, it is also called a "bloodless scalpel".

[0003] It is known that the ultrasonic knife mainly includes three components: the ultrasonic knife main unit, the ultrasonic transducer and the ultrasonic knife head installed on the ultrasonic transducer. The ultrasonic knife main unit is mainly used to generate ultrasonic frequency driving signals to drive the ultrasonic transducer to work. The ultrasonic transducer is mainly used to convert high-frequency electrical energy into mechanical energy to generate high-frequency vibrations to drive the ultrasonic knife head to cut biological tissue under high-frequency vibrations. During the use of the ultrasonic knife, the ultrasonic knife main unit can usually generate alternating current of about 55 kilohertz (KHz) to drive the super energy transducer to generate high-frequency mechanical vibrations. The mechanical vibrations can be transmitted to the ultrasonic knife head through the amplitude rod on the ultrasonic transducer. The high-frequency vibration of the ultrasonic knife head (about 55,000 times per second) will cause the water in the clamped soft tissue to vaporize rapidly, tear cells, break protein hydrogen bonds, and increase temperature, thereby achieving the cutting and separation of soft tissue and the coagulation and hemostasis of blood vessels.

[0004] The ultrasonic scalpel host needs to adjust the operating frequency of the driving signal of the ultrasonic transducer in real time so that the ultrasonic transducer and the ultrasonic scalpel head are in or close to a resonant state, so that the efficiency of converting electrical energy into mechanical energy is the highest or higher. For example, an impedance analyzer is used to perform a sweep frequency test on the mechanical vibration system composed of a handle, an ultrasonic transducer (including a horn), and an ultrasonic scalpel head (including a shank and a shank sleeve), and the result is Figure 1 The equivalent circuit model spectrum of the mechanical vibration system is shown in Figure 2. Figure 1 In the figure, the horizontal axis represents frequency, the vertical axis on the right represents impedance (impedance Z in logarithmic coordinates, i.e., lgZ), and the vertical axis on the left represents phase difference (i.e., the phase difference between the driving voltage and driving current of the ultrasonic transducer).

[0005] It can be seen that the resonant frequency has a value range (this value range determines the sweep frequency range). Figure 1The abscissa Fo of point O in the figure is the lower limit value of the frequency in this value range, and the abscissa Fe of point E is the upper limit value of the frequency in this value range. The lower limit value of the frequency and the upper limit value of the frequency are known constants. For the phase difference curve, the ordinate of point O is 0; for the impedance curve, the ordinate of point O is not 0. The abscissas of points A and C are the resonance frequencies Fs (i.e., the operating frequencies in the resonant state), and the abscissas of points B and D are the anti-resonance frequencies Fp (i.e., the operating frequencies in the anti-resonant state, and the efficiency of converting electrical energy into mechanical energy in the anti-resonant state is the lowest). The phase difference between points C and D is 0, and the ordinate of the straight line where CD is located is the phase difference 0, with positive phase differences above and negative phase differences below. The ordinate value of point A is the resonance point impedance Zmin, that is, the minimum impedance value in the resonant state. The ordinate of point B is the anti-resonance point impedance Zmax, that is, the maximum impedance value in the anti-resonant state. The frequencies corresponding to points O and E are known constants, and the frequencies corresponding to points C and D are unknown, but satisfy Fo < Fc < Fd < Fe, that is, the relative magnitude relationship is known, and the relative position relationship on the number axis is as Figure 1 shown.

[0006] As Figure 1 can be seen, the phase differences at the resonance frequency and the anti-resonance frequency are both 0, that is, the phase differences between points C and D are both 0, and at the resonance frequency, the efficiency of converting electrical energy into mechanical energy is the highest. At the anti-resonance frequency, the efficiency of converting electrical energy into mechanical energy is the lowest. Parameters such as the resonance frequency and the anti-resonance frequency will drift with the load and working conditions, so the ultrasonic knife host needs to adjust the driving frequency (i.e., the working frequency of the driving signal) of the ultrasonic transducer in real time to track the resonance frequency, that is, to keep the ultrasonic knife continuously in or close to the resonant state during the working process.

[0007] Although the spectral curve shapes of different mechanical vibration systems in different ultrasonic knives are similar, parameters such as the resonance frequency, resonance impedance, anti-resonance frequency, and anti-resonance impedance are different. After the ultrasonic knife is powered on, it will perform a no-load frequency sweep self-check. The so-called no-load frequency sweep self-check means that without a load, the driving frequency of the ultrasonic transducer is increased from the lower limit of the frequency to the upper limit of the frequency at a fixed step size. During this process, the driving voltage, driving current of the ultrasonic transducer, and the phase difference between the two are measured, and the impedance is calculated. Through the frequency sweep, the working frequency with a phase difference of 0 and an impedance less than 120 Ω (this value can be adjusted, for example, it can be taken from 100 to 160 Ω, which is related to the material and structure of the tool head itself) is found as the frequency sweep resonance frequency F0. The starting frequency selected during the working process is related to F0, so that the resonant state can be quickly entered and the work can be carried out efficiently. During the working process, the working frequency can be adjusted in real time according to the phase difference, so that after the frequency is adjusted, the phase difference remains 0 or near 0 (this process can be called frequency tracking). At this time, it is considered that the mechanical vibration system has reached or is close to the resonant state.

[0008] However, if the starting frequency is not selected correctly, for example, an area with large impedance is selected, such as near the anti-resonance frequency D or to the right of the anti-resonance frequency D, then the ultrasonic knife system with constant current output will not work. Because the impedance is large and the voltage is also large, the voltage waveform output by the ultrasonic knife host will be distorted and no longer a sine wave. The phase difference data is inaccurate and the frequency cannot be tracked.

[0009] Under normal circumstances, one mechanical vibration system is used for one operation, and each time it is turned on, a frequency sweep self-check will be performed, so there is no situation where the starting frequency is incorrectly selected. If the mechanical vibration system is replaced during the operation (such as replacing the ultrasonic blade, replacing the ultrasonic transducer, etc.), a frequency sweep must be performed, otherwise there is a possibility that the starting frequency is incorrect and the frequency tracking fails. If the resonant frequency of the previous mechanical vibration system is the anti-resonant frequency of the new mechanical vibration system, if the frequency sweep is not performed, the swept resonant frequency of the previous mechanical vibration system will continue to be used as the starting frequency of the new mechanical vibration system, which means that the frequency tracking is performed with the anti-resonant frequency of the new mechanical vibration system as the starting frequency, which will cause the frequency tracking to fail.

[0010] In actual situations, for the sake of convenience, users may not follow the operating instructions and directly replace the mechanical vibration system without performing a frequency sweep self-check. As a result, the entire ultrasonic knife device may not be able to track the frequency and report an error, giving the user a bad experience. If users rate the product lower than competing products, it will be detrimental to product sales. Therefore, if the mechanical vibration system can be replaced midway and can be used directly, it will improve user experience and increase product competitiveness.

[0011] In order to avoid the failure of frequency tracking caused by the user replacing the mechanical vibration system (such as the ultrasonic blade) without performing the frequency sweep test, the prior art has a method of continuously monitoring whether the ultrasonic blade head is connected. When it is detected that the ultrasonic blade head is connected, the user is forced to perform the frequency sweep test, otherwise it cannot be used. However, this solution requires monitoring whether the ultrasonic blade head is connected. If a combination of software and hardware is used, the hardware cost needs to be increased. If a pure software solution is used, continuous periodic frequency sweeping is required to determine whether the ultrasonic blade head is connected based on the spectrum. The disadvantage is that even if the machine is in standby mode and the user is not using the machine, the ultrasonic transducer is still working, which not only wastes energy but also shortens the normal service life of the ultrasonic transducer. Summary of the invention

[0012] In view of this, the present disclosure proposes a frequency tracking method, a frequency tracking device and an ultrasonic scalpel equipment for an ultrasonic scalpel, which can solve the problem that after the mechanical vibration system of the ultrasonic scalpel is replaced, a frequency sweep self-test is required to work normally, and the robustness of the ultrasonic scalpel frequency tracking can be improved. Even if the starting frequency of the frequency tracking is far from the resonance point and close to the anti-resonance point, the frequency tracking can be successfully performed.

[0013] According to one aspect of the present disclosure, a frequency tracking method for an ultrasonic scalpel is provided, comprising: obtaining an operating frequency, a phase difference, an impedance value of an ultrasonic scalpel at a current moment and an operating state at a previous moment during operation, wherein the operating state represents a normal operating state or an anti-resonance operating state, wherein the normal operating state includes the ultrasonic scalpel operating before the anti-resonance frequency, and the anti-resonance operating state includes the ultrasonic scalpel operating after the anti-resonance frequency, and the anti-resonance frequency includes an operating frequency when the phase difference is 0 and the impedance value is maximum; determining the working state of the ultrasonic scalpel at the current moment according to the operating frequency of the ultrasonic scalpel at the current moment, or the operating frequency and the phase difference at the current moment, or the operating frequency, the phase difference and the impedance value at the current moment; or determining the working state of the ultrasonic scalpel at the current moment according to the operating frequency, the phase difference of the ultrasonic scalpel at the current moment and the working state at the previous moment, or the operating frequency, the phase difference, the impedance value at the current moment and the working state at the previous moment; and performing a frequency tracking process matching the working state at the current moment according to the working state of the ultrasonic scalpel at the current moment, so that the ultrasonic scalpel operates at the resonant frequency, wherein the resonant frequency includes the working frequency when the phase difference is 0 and the impedance value is minimum.

[0014] In a possible implementation, the working state of the ultrasonic scalpel at the current moment is determined according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment, including: when the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is less than or equal to the first phase difference threshold and the impedance value at the current moment is greater than the first impedance threshold, determining that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state; or, when the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the phase difference at the current moment is less than or equal to 0, and the phase difference at the current moment and N historical moments before the current moment is negatively correlated with the working frequency, determining that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state, N is a positive integer; or, when the working frequency at the current moment is greater than or equal to the upper limit of the working frequency of the ultrasonic scalpel, determining that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state.

[0015] In a possible implementation, the working state of the ultrasonic scalpel at the current moment is determined according to the working frequency, phase difference and the working state at the previous moment of the ultrasonic scalpel at the current moment, or the working frequency, phase difference, impedance value and the working state at the previous moment, including: when the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than a first phase difference threshold and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, determining the working state of the ultrasonic scalpel at the current moment according to the working state at the previous moment; or, when the phase difference at the current moment is less than or equal to 0, the impedance value at the current moment is less than or equal to the first impedance threshold and the working frequency at the current moment is less than or equal to the upper limit of the working frequency of the ultrasonic scalpel. When the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment; or, when the phase difference at the current moment is less than or equal to 0, the phase difference between the current moment and N historical moments before the current moment is not negatively correlated with the working frequency, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment; or, when the phase difference at the current moment is greater than 0 and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment.

[0016] In a possible implementation, determining the working state of the ultrasonic scalpel at the current moment according to the working state at the previous moment includes: when the working state at the previous moment is a normal working state, determining that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than a second phase difference threshold, determining that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, determining that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is less than the second impedance threshold, determining that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and when When the phase difference at the previous moment is less than 0 and the phase difference at the previous moment is greater than 0, it is determined that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is less than or equal to 0, it is determined that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is greater than 0, it is determined that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is less than or equal to 0, it is determined that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state; wherein the second phase difference threshold is less than the first phase difference threshold, and the second impedance threshold is less than the first impedance threshold.

[0017] In one possible implementation, based on the working state of the ultrasonic knife at the current moment, frequency tracking processing that matches the working state at the current moment is performed, including: when the working state of the ultrasonic knife at the current moment is an anti-resonance working state, the working frequency at the current moment is subtracted from the first frequency step to obtain the first target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the first target working frequency.

[0018] In a possible implementation, the frequency tracking processing that matches the working state at the current moment is performed according to the working state of the ultrasonic scalpel at the current moment, including: when the working state of the ultrasonic scalpel at the current moment is a normal working state and the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to a second phase difference threshold, the working frequency at the current moment is subtracted from the second frequency step to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the second target working frequency; or, when the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state and the working state at the previous moment is an anti-resonance working state, the working frequency at the current moment is subtracted from the second frequency step to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the second target working frequency.

[0019] In a possible implementation, the frequency tracking processing that matches the working state at the current moment is performed according to the working state of the ultrasonic knife at the current moment, including: when the working state of the ultrasonic knife at the current moment is a normal working state and the working state at the previous moment is a normal working state, determining the frequency adjustment amount at the current moment according to the phase difference at the current moment; or, when the working state of the ultrasonic knife at the current moment is a normal working state, determining the frequency adjustment amount at the current moment according to the phase difference at the current moment; wherein, when the phase difference is a positive number, the frequency adjustment amount is a negative number; when the phase difference is a negative number, the frequency adjustment amount is a positive number; the working frequency at the current moment is added to the frequency adjustment amount at the current moment to obtain a third target working frequency corresponding to the current moment, and adjust the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife to the third target working frequency.

[0020] According to another aspect of the present disclosure, a frequency tracking device for an ultrasonic scalpel is provided, comprising: an acquisition module, for acquiring a working frequency, a phase difference, an impedance value and a working state of the ultrasonic scalpel at a current moment in a working process, wherein the working state represents a normal working state or an anti-resonance working state, wherein the normal working state includes the ultrasonic scalpel working before the anti-resonance frequency, and the anti-resonance working state includes the ultrasonic scalpel working after the anti-resonance frequency, and the anti-resonance frequency includes a working frequency when the phase difference is 0 and the impedance value is maximum; a determination module, for determining the working state of the ultrasonic scalpel at the current moment according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and the phase difference at the current moment, or the working frequency, the phase difference and the impedance value at the current moment; or, determining the working state of the ultrasonic scalpel at the current moment according to the working frequency, the phase difference and the working state of the previous moment, or the working frequency, the phase difference, the impedance value and the working state of the previous moment; and a frequency tracking module, for performing a frequency tracking process matching the working state at the current moment according to the working state of the ultrasonic scalpel at the current moment, so that the ultrasonic scalpel works at the resonant frequency, wherein the resonant frequency includes the working frequency when the phase difference is 0 and the impedance value is minimum.

[0021] According to another aspect of the present disclosure, an ultrasonic scalpel device is provided, comprising: an ultrasonic scalpel host, an ultrasonic transducer and an ultrasonic scalpel head mounted on the ultrasonic transducer; the ultrasonic scalpel host is configured to execute the frequency tracking method, or the ultrasonic scalpel host includes the frequency tracking device.

[0022] According to various aspects of the present disclosure, by determining whether the working state at the current moment is working before or after the anti-resonance frequency based on the working frequency at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment, or the working frequency, phase difference and impedance value at the previous moment, or the working frequency, phase difference, impedance value at the current moment and the working state at the previous moment, and then using a frequency chasing process that matches the working state to chase the frequency, the ultrasonic scalpel can successfully chase the frequency at any starting frequency (even if the frequency chasing starting frequency is far from the resonant frequency but close to the anti-resonance frequency), especially after the mechanical vibration system of the ultrasonic scalpel is replaced (such as replacing the ultrasonic scalpel head), the frequency chasing can be successful without performing a scanning self-test, thereby improving the robustness of the ultrasonic scalpel frequency chasing and improving the ability of the ultrasonic scalpel to adapt to complex working conditions.

[0023] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0025] Figure 1 A frequency spectrum diagram showing an equivalent circuit model of a mechanical vibration system in an ultrasonic knife according to an embodiment of the present disclosure.

[0026] Figure 2 A flow chart of a frequency tracking method of an ultrasonic scalpel according to an embodiment of the present disclosure is shown.

[0027] Figure 3 A flow chart showing an implementation of a frequency tracking method according to an embodiment of the present disclosure is shown.

[0028] Figure 4 A flow chart showing another implementation of a frequency tracking method according to an embodiment of the present disclosure is shown.

[0029] Figure 5 A block diagram of a frequency tracking device for an ultrasonic scalpel according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0030] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0031] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0032] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.

[0033] It should be understood that the terms "first", "second", etc. in the claims, specifications and drawings of the present disclosure are used to distinguish different objects rather than to describe a specific order. The terms "include" and "comprise" used in the specifications and claims of the present disclosure indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections.

[0034] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0035] To facilitate understanding of the frequency tracking method of the ultrasonic scalpel in the embodiment of the present disclosure, the embodiment of the present disclosure first introduces the frequency tracking principle involved, and then explains the specific implementation method of the frequency tracking method in the embodiment of the present disclosure.

[0036] It can be known that the goal of frequency tracking is to make the mechanical vibration system of the ultrasonic knife resonate. The goal of the existing frequency tracking algorithm is to find the resonant frequency and use the signal of the resonant frequency to drive the ultrasonic transducer to work. As mentioned above, the phase difference of the resonant frequency is 0, and the impedance is small. The phase difference of the anti-resonant frequency is 0, and the impedance is very large. The existing frequency tracking algorithm will periodically adjust the frequency according to the phase difference, so that the phase difference is 0 and the impedance is small, which means that the resonant frequency has been found. The modulation period of the existing frequency tracking algorithm is generally a few milliseconds, so that the operating frequency can be adjusted in real time to adapt to changes in the load.

[0037] The frequency tracking method proposed in the embodiment of the present disclosure is to implement frequency tracking processing based on the current working frequency, phase difference, impedance value and the working state at the previous moment, wherein, by observing such Figure 1 The spectrum diagram of the mechanical vibration system in the ultrasonic scalpel shown in the figure obtains the characteristics of the ultrasonic scalpel at different working frequencies, phase differences and impedance values, so as to facilitate the subsequent identification of the current working state according to the characteristics of the working frequency, phase difference and impedance value, so as to accurately track the frequency.

[0038] For example, Figure 1 As shown in FIG. 1 , if the current operating frequency Fn is in the OC interval, the current phase difference is a negative number. At this time, a frequency adjustment amount Δf can be calculated based on the negative phase difference to obtain the current operating frequency Fn+1=Fn+Δf that needs to be updated. From Figure 1It can be seen that in order to get closer to the resonant frequency C, Δf should be a positive number at this time, that is, when the operating frequency is in the OC range, the frequency chasing algorithm can calculate a positive frequency adjustment value based on the negative phase difference. Among them, any known calculation strategy in the art can be used to obtain the specific value of Δf, for example, it can be various types of PID (Proportional-Integral-Derivative) algorithms or dichotomy, etc., and the embodiments of the present disclosure are not limited to this. If the current operating frequency Fn is in the CD range, the phase difference at the current moment is a positive number. At this time, the frequency chasing algorithm can calculate a frequency adjustment value Δf based on the positive phase difference, and obtain the operating frequency Fn+1=Fn+Δf that needs to be updated at the next moment, from Figure 1 It can be seen that in order to get closer to the resonant frequency C, Δf should be a negative number at this time, that is, when the operating frequency is in the CD interval, a negative frequency adjustment amount can be calculated based on the positive phase difference.

[0039] In summary, if the operating frequency is within the OD interval and the phase difference is positive, the calculated frequency adjustment amount is negative; if the phase difference is negative, the calculated frequency adjustment amount is positive, until the phase difference is 0 or near 0, it is considered that the frequency tracking is successful. In addition, in order to quickly track the frequency, the frequency tracking algorithm can have the property that the larger the input phase difference, the larger the output frequency adjustment amount.

[0040] It should be understood that as long as the starting frequency of the frequency pursuit is between OC and CD, the above existing frequency pursuit algorithm combined with the appropriate frequency adjustment amount can make the ultrasonic knife work normally. However, if the working frequency is in the interval after point D, the phase difference is negative at this time, and the frequency adjustment amount calculated by the above frequency pursuit algorithm is positive, then the working frequency will be further away from the resonant frequency, so the frequency pursuit will fail; therefore, the frequency adjustment amount should be changed to a negative number to get close to the resonant frequency. The frequency pursuit method of the embodiment of the present disclosure is to identify whether the working frequency is in the interval after point D or in the interval before point D, and then decide whether to change the sign of the frequency adjustment amount to a negative sign. The interval after point D will be referred to as the anti-resonance interval. For example, DE belongs to the anti-resonance interval, and the working state after the anti-resonance frequency point D is called the anti-resonance state. Correspondingly, the working state before the anti-resonance frequency point D is called the normal working state. The frequency pursuit method of the embodiment of the present disclosure can be used to successfully pursue the frequency at any starting frequency in the entire working frequency band of the ultrasonic knife, thereby improving the robustness of the superconducting knife frequency pursuit, and can enable the ultrasonic knife to cope with more complex working conditions.

[0041] It is understandable that when the ultrasonic knife is working normally, it will usually perform a frequency sweep self-test after it is turned on, and the unloaded resonant frequency F0 can be found. After that, the starting frequency of the loaded operation will start to chase the frequency from near F0. F0 usually falls within the OD segment of the loaded spectrum curve, so the frequency chasing can be successful. After replacing the mechanical vibration system (such as replacing the ultrasonic knife head), the user is likely not to perform a frequency sweep self-test. At this time, the resonant frequency F0 obtained by the power-on frequency sweep of the previous set of mechanical vibration system will be used as the current frequency chasing starting frequency, and the frequency chasing starting frequency may fall in the DE interval, that is, the anti-resonance interval. Therefore, it is necessary to correctly identify the anti-resonance interval in order to successfully chase the frequency. The frequency chasing method of the disclosed embodiment can accurately identify whether the working frequency Fn is in the anti-resonance interval, that is, to identify whether the ultrasonic knife is in the anti-resonance working state or in the normal working state, and adopt corresponding frequency chasing processing methods for different working states to ensure that the ultrasonic knife can successfully chase the frequency at any starting frequency, wherein, if it is in the anti-resonance working state, the corresponding frequency chasing processing can be performed to ensure that the frequency chasing is successful. If it is in a normal working state, that is, not in an anti-resonance working state, the frequency chasing algorithm mentioned above can be used for frequency chasing.

[0042] like Figure 1 As shown, the phase difference of the CD interval is positive, and the phase difference of the OC and DE intervals is negative, so it is easy to distinguish the OC interval from the CD and DE intervals. The phase difference of the OC interval and the DE interval is negative, so the two cannot be distinguished by the phase difference. Therefore, the frequency tracking method of the embodiment of the present disclosure can judge point E and after point E by the working frequency, the CD interval can be judged by the working frequency + phase difference, the D point can be judged by the working frequency + phase difference + impedance value, the CD interval can be judged by the working frequency + phase difference + the working state at the last moment, and the OC interval, point C and DE interval can be judged by the working frequency + phase difference + impedance value + the working state at the last moment.

[0043] In the DE interval, the frequency range is [Fd, Fe], where Fd is the operating frequency at point D, Fe is the operating frequency at point E (i.e., the upper limit of the operating frequency), Fe is known (usually 56500 Hz), and the impedance range is [Ze, Zd], Ze is the impedance value at point E, and Zd is the impedance value at point D. In the OC interval, the frequency range is [Fo, Fc], where Fc is the operating frequency at point O, Fo is the operating frequency at point C (the lower limit of the operating frequency), Fo is known (usually 54500 Hz), and the impedance range is [Zc, Zo], Zc is the impedance value at point C, and Zo is the impedance value at point O; where Fc and Fd are related to the mechanical vibration system and load of the ultrasonic knife and are variable. The specific values ​​of Zc, Zo, Ze and Zd are unknown, but the range of their magnitude is known and there are only two possible relationships, namely, Zc<Zo<Ze<Zd, or, Zc<Ze<Zo<Zd. In other words, Zo<Ze,Zo> That is to say, in actual situations, it is impossible to distinguish whether the impedance relationship is the first case or the second case.

[0044] But from Figure 1It can be seen that near the anti-resonance frequency point D, the absolute value of the phase difference is less than a certain threshold Phase1 (such as 15°~40°), and the impedance value is extremely large, and the impedance value in the OC interval is much smaller than the impedance value Zd at point D (such as ≤300Ω). Therefore, a suitable impedance threshold Zt1 (such as 2000Ω and above) can be selected. When the absolute value of the phase difference is less than the threshold Phase1 and the impedance value is greater than the threshold Zt1, it can be considered that the current operating frequency Fn is in the anti-resonance interval DE near point D. In addition, near point C in the OC interval, the phase difference is negative, and the phase difference increases with the increase of frequency. Near point D in the DE interval, the phase difference is negative, and the phase difference decreases with the increase of frequency. However, near points O and E, the phase difference does not change significantly with frequency. Therefore, it is also possible to continuously observe the changing relationship between the working frequency and the phase difference at M (for example, 10) frequency chasing moments. If the working frequency increases, the phase difference is negative, and the phase difference decreases for N consecutive times (the specific number can be set according to the actual situation, such as 7 times); or, the working frequency decreases, the phase difference is negative, and the phase difference increases, and other negative correlations are met, then it can be considered that the working frequency at the current moment falls within the anti-resonance interval, specifically, it can be the area near point D in the anti-resonance interval DE. And, when the working frequency is greater than or equal to the upper frequency limit Fe, it can be directly considered that the working frequency is in the anti-resonance interval. In the disclosed embodiment, the above three criteria can basically cover the frequency judgment at both ends of the anti-resonance interval. For the uncovered frequency in the middle of the DE interval, it can be treated as the frequency of the OC interval by default. Since the phase difference is negative, the frequency will increase, and the phase difference will decrease, then it can be considered that the working frequency at the current moment falls within the anti-resonance interval, and therefore, the frequency will eventually be adjusted to the covered interval.

[0045] Based on the frequency tracking principle described in the above embodiment of the present disclosure, Figure 2 A flow chart of a frequency tracking method of an ultrasonic knife according to an embodiment of the present disclosure is shown. Figure 2 As shown, the frequency tracking method includes: step S21 to step S23.

[0046] In step S21, the working frequency, phase difference, impedance value of the ultrasonic knife at the current moment and the working state at the previous moment are obtained;

[0047] The working state represents a normal working state or an anti-resonance working state. The normal working state includes the ultrasonic knife working before the anti-resonance frequency (the working frequency of the ultrasonic knife falls before the anti-resonance frequency, such as Figure 1 The anti-resonance working state includes the ultrasonic knife working after the anti-resonance frequency (that is, the working frequency of the ultrasonic knife falls after the anti-resonance frequency, such as Figure 1 The anti-resonance frequency includes the operating frequency when the phase difference is 0 and the impedance value is maximum (such as Figure 1point D in the figure).

[0048] In actual applications, a corresponding data acquisition circuit can be set in the ultrasonic knife to utilize the data acquisition circuit to collect the working frequency, phase difference and impedance value of the ultrasonic knife in real time according to a certain period during its operation. The working frequency, phase difference and impedance value at the current moment are also the working frequency, phase difference and impedance values ​​collected at the current moment. The embodiment of the present disclosure does not limit the method for obtaining the working frequency, phase difference and impedance value.

[0049] It can be understood that when the ultrasonic scalpel is started for the first time, a no-load frequency sweep is usually performed to determine the starting frequency. Therefore, the working state of the ultrasonic scalpel at the initial moment can be directly regarded as a normal working state. The working state at each moment after the initial moment can be determined based on the working frequency, phase difference, impedance value at each moment and the working state at the previous moment; among them, if the ultrasonic scalpel head is replaced during the operation of the ultrasonic scalpel, since it was in a normal working state before the replacement, the working state at the previous moment after the replacement can be directly regarded as a normal working state.

[0050] In step S22, the working state of the ultrasonic scalpel at the current moment is determined according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment; or the working state of the ultrasonic scalpel at the current moment is determined according to the working frequency, phase difference and the working state at the previous moment, or the working frequency, phase difference, impedance value and the working state at the previous moment;

[0051] As described above, by selecting a suitable impedance threshold Zt1 (such as 2000Ω and above), when the absolute value of the phase difference is less than the threshold Phase1 and the impedance value is greater than the threshold Zt1, it can be considered that the current operating frequency Fn is in the area near point D in the anti-resonance interval DE; thus, in a possible implementation, the above-mentioned determination of the working state of the ultrasonic scalpel at the current moment according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment, can include: when the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is less than or equal to the first phase difference threshold and the impedance value at the current moment is greater than the first impedance threshold, the working state of the ultrasonic scalpel at the current moment is determined to be the anti-resonance working state. Wherein, the value range of the first phase difference threshold includes 15° to 40°, for example, the first phase difference threshold can be set to 40°; the value range of the first impedance threshold can include 2000Ω and above, for example, the first impedance threshold can be set to 2000Ω, which is not limited in the embodiment of the present disclosure.

[0052] As described above, if the operating frequency and the phase difference satisfy the negative correlation conditions such as the operating frequency increases, the phase difference is negative and the phase difference decreases, or the operating frequency decreases, the phase difference is negative and the phase difference increases for N consecutive times, then it can be considered that the operating frequency at the current moment falls within the anti-resonance interval. Therefore, in a possible implementation, the above-mentioned determination of the working state of the ultrasonic knife at the current moment based on the working frequency of the ultrasonic knife at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment may include: when the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic knife, the phase difference at the current moment is less than or equal to 0, and the phase difference at the current moment and the N historical moments before the current moment is negatively correlated with the working frequency, the working state of the ultrasonic knife at the current moment is determined to be an anti-resonance working state, and N is a positive integer. Among them, those skilled in the art can set the specific value of N according to actual needs, for example, it can be set to 7, and this is not limited to the embodiments of the present disclosure. Among them, the phase difference between the current moment and N historical moments before the current moment is negatively correlated with the operating frequency. It can be understood that the phase difference at N consecutive moments decreases with the increase of the operating frequency, or increases with the decrease of the operating frequency. At this time, it is considered that the ultrasonic knife is working in an anti-resonance working state.

[0053] As described above, when the operating frequency is greater than or equal to the upper frequency limit Fe, it can be directly considered that the operating frequency is in the anti-resonance interval; therefore, in a possible implementation, the above-mentioned determination of the working state of the ultrasonic scalpel at the current moment based on the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment, can also include: when the working frequency at the current moment is greater than or equal to the upper frequency limit of the ultrasonic scalpel, determining that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state. Among them, the upper frequency limit of the ultrasonic scalpel is a known value, such as 56500Hz; the embodiment of the present disclosure does not limit the specific value of the upper frequency limit of the ultrasonic scalpel.

[0054] The above three judgment bases can be the basis for accurately judging that the ultrasonic knife is in the anti-resonance working state. Considering that there may be situations in actual situations where the above judgment bases are not met and the working state cannot be determined, in these situations, the working state at the current moment can be determined in combination with the working state at the previous moment. Therefore, in a possible implementation method, the above determination of the working state of the ultrasonic knife at the current moment based on the working frequency, phase difference of the ultrasonic knife at the current moment and the working state at the previous moment, or the working frequency, phase difference, impedance value of the current moment and the working state at the previous moment, includes:

[0055] When the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than the first phase difference threshold, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment; or,

[0056] When the phase difference at the current moment is less than or equal to 0, the impedance value at the current moment is less than or equal to the first impedance threshold, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment; or,

[0057] When the phase difference at the current moment is less than or equal to 0, the phase difference at the current moment and the N historical moments before the current moment is not negatively correlated with the working frequency, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment, wherein not being negatively correlated includes being positively correlated (such as the phase difference increases with increasing frequency) or being uncorrelated (that is, the phase difference does not change significantly with frequency); or,

[0058] When the phase difference at the current moment is greater than 0 and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment.

[0059] In a possible implementation, determining the working state of the ultrasonic scalpel at the current moment according to the working state at the previous moment includes:

[0060] In the case where the working state at the previous moment is a normal working state, determining that the working state of the ultrasonic knife at the current moment is a normal working state; or,

[0061] When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than the second phase difference threshold, determine that the working state of the ultrasonic knife at the current moment is the normal working state; or,

[0062] When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, determine that the working state of the ultrasonic knife at the current moment is the anti-resonance working state; or,

[0063] When the working state at the previous moment is the anti-resonance working state, the phase difference at the current moment is equal to 0, and the impedance value at the current moment is less than the second impedance threshold, determining that the working state of the ultrasonic knife at the current moment is the normal working state; or,

[0064] When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is greater than 0, determining that the working state of the ultrasonic knife at the current moment is the normal working state; or,

[0065] When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is less than or equal to 0, determining that the working state of the ultrasonic knife at the current moment is the anti-resonance working state; or,

[0066] When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is greater than 0, determine that the working state of the ultrasonic knife at the current moment is the normal working state; or,

[0067] When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is less than or equal to 0, it is determined that the working state of the ultrasonic knife at the current moment is the anti-resonance working state.

[0068] Among them, the value range of the second phase difference threshold includes 15° to 40°, and the second phase difference threshold is less than the first phase difference threshold, for example, the second phase difference threshold can be 15°; the second impedance threshold is less than the first impedance threshold, and the value range of the second impedance threshold includes 300Ω and below, for example, the second impedance threshold can be 300Ω. The embodiment of the present disclosure does not limit the specific values ​​of the first phase difference threshold, the second phase difference threshold, the first impedance threshold and the second impedance threshold.

[0069] In step S23, according to the working state of the ultrasonic scalpel at the current moment, a frequency tracking process matching the working state at the current moment is performed to make the ultrasonic scalpel work at a resonant frequency, where the resonant frequency includes the working frequency when the phase difference is 0 and the impedance value is minimum.

[0070] Among them, when the working state of the ultrasonic knife at the current moment is a normal working state (that is, it is determined that the working frequency falls within the OD interval) and the working state at the previous moment is a normal working state, the existing frequency tracking algorithm can be used to track the frequency according to the phase difference; or, regardless of whether the working state at the previous moment is a normal working state or an anti-resonance working state, as long as the working state at the current moment is a normal working state, the existing frequency tracking algorithm can also be used to track the frequency according to the phase difference. Specifically, the above-mentioned frequency tracking processing that matches the working state at the current moment according to the working state of the ultrasonic knife at the current moment may include:

[0071] When the working state of the ultrasonic scalpel at the current moment is a normal working state and the working state at the previous moment is a normal working state, the frequency adjustment amount at the current moment is determined according to the phase difference at the current moment; or, when the working state of the ultrasonic scalpel at the current moment is a normal working state, the frequency adjustment amount at the current moment is determined according to the phase difference at the current moment; wherein, when the phase difference is a positive number, the frequency adjustment amount is a negative number; when the phase difference is a negative number, the frequency adjustment amount is a positive number;

[0072] The current operating frequency is added to the frequency adjustment amount at the current moment to obtain a third target operating frequency corresponding to the current moment, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the third target operating frequency.

[0073] Wherein, assuming that the working frequency at the current moment is represented as Fn, the frequency adjustment amount is represented as Δf, the third target working frequency corresponding to the current moment is represented as Fn+1, and the phase difference is represented as Phase, then the calculation formula: Fn+1=Fn+Δf, Δf=-K*Phase can be used to calculate the third target working frequency to adjust the working frequency at the current moment, and update the driving frequency of the ultrasonic transducer (that is, the working frequency of the driving signal) to Fn+1; wherein K is a positive number, and K can take different values ​​according to the absolute value of different phase differences. The larger the absolute value of the phase difference, the larger the K value; the smaller the absolute value of the phase difference, the smaller the K value. For example, K can be taken according to Table 1, and P represents the absolute value of the phase difference;

[0074] Table 1

[0075] P P>＝65 65>P>＝60 60>P>＝30 30>P>＝8 8>P>＝4 4>P K 3 2.2 0.8 0.7 0.6 0.5

[0076] When the ultrasonic scalpel is in an anti-resonance working state at the current moment (i.e., it is determined that the working frequency falls within the DE interval or after point E), the working frequency can be gradually reduced by a larger frequency step M (such as 15Hz-30Hz) until the working frequency leaves the DE interval with a negative phase difference and returns to the CD interval with a positive phase difference or the OC interval with a negative phase difference. Therefore, in a possible implementation, according to the working state of the ultrasonic scalpel at the current moment, a frequency tracking process matching the working state at the current moment is performed, including:

[0077] When the ultrasonic scalpel is in an anti-resonance working state at the current moment, the first target working frequency corresponding to the current moment is obtained by subtracting the first frequency step from the working frequency at the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the first target working frequency; wherein the first frequency step includes 15Hz-30Hz. The working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is also the driving frequency corresponding to the ultrasonic transducer, and the ultrasonic scalpel can be gradually returned to a normal working state by adjusting the driving frequency based on the first frequency step.

[0078] Considering that if the above-mentioned frequency-chasing algorithm is used to chase the frequency according to the phase difference after returning from the DE interval to the CD interval, although in theory the working frequency can also reach the resonance point, when the phase difference is a positive number and the absolute value is small, that is, when it is near the left side of point D, the frequency adjustment amount obtained by the frequency-chasing algorithm is small, which makes the frequency-chasing speed slow (if the starting frequency of the frequency-chasing is near the left side of point D, the frequency-chasing algorithm can identify it through impedance, and the starting frequency of the frequency-chasing can be changed at this time). In order to solve the problem of slow frequency-chasing speed caused by small frequency adjustment amount, the working state of the ultrasonic knife at the current moment is still set to the anti-resonance working state, and by continuing to subtract a certain large frequency step (such as 10Hz-20Hz), the phase difference is a positive number and the absolute value is large, so that the frequency adjustment amount calculated by the frequency-chasing algorithm according to the phase difference is large enough to make the working frequency quickly reach the resonance frequency; or the phase difference can also be made negative. At this time, the working frequency falls in the OC interval, and the frequency-chasing algorithm can also be used to make the working frequency quickly reach the resonance frequency. Therefore, in a possible implementation method, according to the working state of the ultrasonic knife at the current moment, performing a frequency-chasing process that matches the working state at the current moment may include:

[0079] When the working state of the ultrasonic knife at the current moment is the normal working state and the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, the working frequency at the current moment is subtracted from the second frequency step to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the second target working frequency; wherein the second frequency step includes 10Hz-20Hz. Among them, when the working state of the ultrasonic knife at the current moment is the normal working state and the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, it can be considered that the working frequency at the current moment is located near the left side of point D in the CD interval, and at this time, the working frequency at the current moment can be subtracted from the second frequency step to quickly track the frequency to the resonant frequency.

[0080] In a possible implementation, according to the working state of the ultrasonic scalpel at the current moment, performing frequency tracking processing that matches the working state at the current moment may also include: when the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state and the working state at the previous moment is an anti-resonance working state, subtracting the second frequency step from the working frequency at the current moment to obtain the second target working frequency corresponding to the current moment, and adjusting the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel to the second target working frequency. This method can be understood as both the current moment and the previous moment working in the anti-resonance interval (such as the DE interval). In this case, the frequency tracking can be performed by subtracting the second frequency step from the working frequency at the current moment, that is, the driving frequency can be adjusted based on the second frequency step to gradually return the ultrasonic scalpel to a normal working state.

[0081] According to the frequency tracking method of the embodiment of the present invention, by determining whether the working state at the current moment is working before or after the anti-resonance frequency according to the working frequency at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment, or the working frequency, phase difference and impedance value at the previous moment, or the working frequency, phase difference, impedance value at the current moment and the working state at the previous moment, and then using the frequency tracking processing matching the working state to perform frequency tracking, the ultrasonic scalpel can successfully track the frequency at any starting frequency (even if the frequency tracking starting frequency is far from the resonant frequency but close to the anti-resonance frequency), especially after the mechanical vibration system of the ultrasonic scalpel is replaced (such as replacing the ultrasonic scalpel head), the frequency tracking can be successful without performing a scanning self-test, thereby improving the robustness of the ultrasonic scalpel frequency tracking and the ability of the ultrasonic scalpel to adapt to complex working conditions.

[0082] Based on the frequency tracking method provided by the above-mentioned embodiment of the present disclosure, illustratively, the embodiment of the present disclosure provides Figure 3 A flowchart of an implementation of a frequency tracking method is shown, as Figure 3 As shown, the implementation method of the frequency tracking method includes:

[0083] Step S31: obtaining the working frequency, phase difference, impedance value of the ultrasonic knife at the current moment and the working state at the previous moment;

[0084] Step S32: determine whether the current working frequency is less than the upper limit of the working frequency of the ultrasonic knife, the current phase difference is less than or equal to 0, the absolute value of the current phase difference is less than or equal to 40°, and the impedance value is greater than 2000Ω; or, determine whether the current working frequency is greater than or equal to the upper limit of the working frequency, that is, determine whether the current working frequency is near point D or point E and after point E; if satisfied (representing that the working frequency is near point D or point E and after point E), enter step S40, if not satisfied, enter step S33; wherein, entering step S40 is because the working frequency needs to be adjusted multiple times when it is at point E, and the working frequency may fall in the middle area of ​​DE during the frequency modulation process. The working state at the current moment is set to the anti-resonance working state, so even if the working frequency is in the middle area of ​​DE, it can be correctly processed;

[0085] Step S33: judging whether the working state at the last moment is a normal working state, if the working state at the last moment is a normal working state, proceeding to step S34, otherwise, proceeding to step S35;

[0086] Step S34: Calculate the frequency adjustment amount Δf according to the phase difference, for example, Δf=-K*Phase, and then proceed to step S41;

[0087] Step S35: determine whether the phase difference at the current moment is positive, if yes (indicating that the operating frequency is in the CD interval), proceed to step S36, otherwise, proceed to step S37;

[0088] Step S36: determine whether the absolute value of the phase difference is greater than 15°, if so, proceed to step S39, otherwise, proceed to step S40;

[0089] Step S37: Determine whether the current phase difference is 0 and the impedance value is less than 300Ω. If so (indicating that the operating frequency falls at point C), proceed to step S39. Otherwise (indicating that the phase difference is negative or the impedance value is greater than or equal to 300Ω), proceed to step S38.

[0090] Step S38: Determine whether the phase difference at the previous moment is a positive number. If so, the process proceeds to step S39. Otherwise, the process proceeds to step S40.

[0091] Step S39: setting the current working state to the normal working state, that is, exiting the anti-resonance working state, and entering step S34;

[0092] Step S40: setting the working state at the current moment to the anti-resonance working state, that is, adjusting the working state from the normal working state to the anti-resonance working state, or continuing to maintain the anti-resonance working state, and subtracting the first frequency step or the second frequency step from the working frequency at the current moment;

[0093] Step S41: Update the driving frequency of the ultrasonic transducer and return to step S31.

[0094] Among them, steps S33 to S40 can be understood as detailed anti-resonance processing measures, and their core goal is to determine whether the working state should be changed, that is, whether to continue to maintain the anti-resonance working state or change to the normal working state. Figure 3 The frequency chasing process shown can obtain the entry and exit conditions of the normal working state and the anti-resonance working state, wherein, for the anti-resonance working state, it is identified whether the working frequency is near point D or point E and later, and when it is identified that the working frequency is near point D or point E and later, the working state at the current moment can be marked as the anti-resonance working state, so as to facilitate the subsequent execution of the corresponding anti-resonance frequency chasing process. The normal frequency chasing process calculates the frequency adjustment amount according to the phase difference, and then updates the driving frequency of the transducer, and the system is in the normal frequency chasing state.

[0095] After the anti-resonance processing is completed and the normal working state is reached, the working state can be marked as the normal working state. The frequency chasing process is to switch between the normal working state and the anti-resonance working state; as mentioned above, the condition for entering the anti-resonance working state is to identify that the current working frequency is near point D or point E and later. At this time, the goal of the anti-resonance processing is no longer to focus on whether the current frequency is in the anti-resonance interval, because when the working frequency is in the middle of the DE interval, it may not be possible to determine whether it is in the anti-resonance interval, but to focus on whether the phase difference corresponding to the current frequency is positive. If not, adjust the operating frequency until the phase difference is positive. If so, mark the current working state as the normal working state. In the normal working state, you can first determine whether the current working frequency is near point D or point E and later. If so, mark the current working state as the anti-resonance working state and perform anti-resonance processing; wherein, when it is started for the first time, the default state is the normal working state.

[0096] Exemplarily, the present disclosure also provides Figure 4 A flowchart of another embodiment of the frequency tracking method is shown, as shown in FIG. Figure 4 As shown, the implementation method of the frequency tracking method includes:

[0097] Step S51: obtaining the working frequency, phase difference, impedance value of the ultrasonic knife at the current moment and the working state at the last moment; wherein the working frequency at the current moment is also the working frequency set at the last moment;

[0098] Step S52: Determine whether the current operating frequency is greater than or equal to the upper limit of the operating frequency (directly determine whether it is at point E or after point E); if so, proceed to step S53, otherwise, proceed to step S54;

[0099] Step S53: setting the working state at the current moment to the anti-resonance working state, and using the calculation formula Fn+1=Fn-L, L is the first frequency step, adjusting the working frequency at the current moment, and using Fn+1 to update the driving frequency output by the ultrasonic knife host to the ultrasonic transducer, and then returning to step S51;

[0100] Step S54: determine whether the phase difference at the current moment is less than or equal to 0, if not (i.e. the phase difference is greater than 0), proceed to step S55, if yes (i.e. the phase difference is less than or equal to 0), proceed to step S56;

[0101] Step S55: determine whether the working state at the last moment is a normal working state, if yes (i.e. the working state at the last moment is a normal working state), proceed to step S61, if no (i.e. the working state at the last moment is an anti-resonance working state), proceed to step S58;

[0102] Step S56: determine whether the absolute value of the phase difference at the current moment is less than or equal to the first phase difference threshold (such as 40°), if so, proceed to step S57, if not, proceed to step S55;

[0103] Step S57: determine whether the impedance value at the current moment is greater than the first impedance threshold (e.g., 2000Ω); if so, proceed to step S53 (representing that the operating frequency is identified as falling in the area near point D, i.e., determining that the operating frequency is in the frequency interval of the anti-resonance working state); if not, proceed to step S55;

[0104] Step S58: Determine whether the phase difference at the current moment is greater than 0. If so (i.e. the phase difference is greater than 0), proceed to step S59; if not (i.e. the phase difference is less than or equal to 0), proceed to step S60;

[0105] Step S59: determine whether the absolute value of the phase difference at the current moment is greater than a second phase difference threshold (such as 15°), if so, proceed to step S61, if not, proceed to step S53;

[0106] Step S60: determine whether the phase difference at the current moment is 0 and the impedance value is less than the second impedance threshold (such as 300Ω), if so, proceed to step S61, if not, proceed to step S62;

[0107] Step S61: setting the working state at the current moment to the normal working state, and using the calculation formula Fn+1=Fn+Δf, Δf=-K*Phase, adjusting the working frequency at the current moment, and using Fn+1 to update the driving frequency of the ultrasonic transducer;

[0108] Step S62: Determine whether the phase difference at the previous moment is greater than 0, if so, proceed to step S61, if not, proceed to step S53.

[0109] It should be understood that the above Figure 3 or Figure 4 The specific implementations shown are some possible implementations of the embodiments of the present disclosure. In fact, those skilled in the art can adaptively adjust the frequency tracking method provided by the embodiments of the present disclosure according to actual needs. For example, the above steps S32 and S56 can also be changed to determine whether the phase difference at the current moment and N historical moments before the current moment is negatively correlated with the operating frequency to determine whether it is in an anti-resonance working state, and the embodiments of the present disclosure are not limited to this.

[0110] According to the embodiments of the present disclosure, the ultrasonic scalpel can successfully track the frequency at any starting frequency (even if the starting frequency of the frequency tracking is far from the resonant frequency but close to the anti-resonant frequency). In particular, after the mechanical vibration system (such as the ultrasonic scalpel head) of the ultrasonic scalpel is replaced, the frequency tracking can be successful without performing a scanning self-test, thereby improving the robustness of the ultrasonic scalpel's frequency tracking and improving the ability of the ultrasonic scalpel to adapt to complex working conditions.

[0111] Figure 5 A block diagram of a frequency tracking device for an ultrasonic scalpel according to an embodiment of the present disclosure is shown. Figure 5 As shown, the frequency tracking device includes:

[0112] An acquisition module 501 is used to acquire the working frequency, phase difference, impedance value of the ultrasonic scalpel at the current moment and the working state at the previous moment during the working process, wherein the working state represents a normal working state or an anti-resonance working state, wherein the normal working state includes the ultrasonic scalpel working before the anti-resonance frequency, and the anti-resonance working state includes the ultrasonic scalpel working after the anti-resonance frequency, and the anti-resonance frequency includes the working frequency when the phase difference is 0 and the impedance value is the maximum;

[0113] The determination module 502 is used to determine the working state of the ultrasonic scalpel at the current moment according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment; or determine the working state of the ultrasonic scalpel at the current moment according to the working frequency, phase difference of the ultrasonic scalpel at the current moment and the working state at the previous moment, or the working frequency, phase difference, impedance value at the current moment and the working state at the previous moment;

[0114] The frequency tracking module 503 is used to perform frequency tracking processing that matches the working state at the current moment according to the working state of the ultrasonic knife at the current moment, so that the ultrasonic knife works at a resonant frequency, and the resonant frequency includes the working frequency when the phase difference is 0 and the impedance value is minimum.

[0115] In a possible implementation, the working state of the ultrasonic scalpel at the current moment is determined according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment, including: when the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is less than or equal to the first phase difference threshold and the impedance value at the current moment is greater than the first impedance threshold, determining that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state; or, when the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the phase difference at the current moment is less than or equal to 0, and the phase difference at the current moment and N historical moments before the current moment is negatively correlated with the working frequency, determining that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state, N is a positive integer; or, when the working frequency at the current moment is greater than or equal to the upper limit of the working frequency of the ultrasonic scalpel, determining that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state.

[0116] In a possible implementation, the working state of the ultrasonic scalpel at the current moment is determined according to the working frequency, phase difference and the working state at the previous moment of the ultrasonic scalpel at the current moment, or the working frequency, phase difference, impedance value and the working state at the previous moment, including: when the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than a first phase difference threshold and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, determining the working state of the ultrasonic scalpel at the current moment according to the working state at the previous moment; or, when the phase difference at the current moment is less than or equal to 0, the impedance value at the current moment is less than or equal to the first impedance threshold and the working frequency at the current moment is less than or equal to the upper limit of the working frequency of the ultrasonic scalpel. When the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment; or, when the phase difference at the current moment is less than or equal to 0, the phase difference between the current moment and N historical moments before the current moment is not negatively correlated with the working frequency, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment; or, when the phase difference at the current moment is greater than 0 and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment.

[0117] In a possible implementation, determining the working state of the ultrasonic scalpel at the current moment according to the working state at the previous moment includes: when the working state at the previous moment is a normal working state, determining that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than a second phase difference threshold, determining that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, determining that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is less than the second impedance threshold, determining that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and when When the phase difference at the previous moment is less than 0 and the phase difference at the previous moment is greater than 0, it is determined that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is less than or equal to 0, it is determined that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is greater than 0, it is determined that the working state of the ultrasonic scalpel at the current moment is a normal working state; or, when the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is less than or equal to 0, it is determined that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state; wherein the second phase difference threshold is less than the first phase difference threshold, and the second impedance threshold is less than the first impedance threshold.

[0118] In one possible implementation, based on the working state of the ultrasonic knife at the current moment, frequency tracking processing that matches the working state at the current moment is performed, including: when the working state of the ultrasonic knife at the current moment is an anti-resonance working state, the working frequency at the current moment is subtracted from the first frequency step to obtain the first target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the first target working frequency.

[0119] In a possible implementation, the frequency tracking processing that matches the working state at the current moment is performed according to the working state of the ultrasonic scalpel at the current moment, including: when the working state of the ultrasonic scalpel at the current moment is a normal working state and the working state at the previous moment is an anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to a second phase difference threshold, the working frequency at the current moment is subtracted from the second frequency step to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the second target working frequency; or, when the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state and the working state at the previous moment is an anti-resonance working state, the working frequency at the current moment is subtracted from the second frequency step to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the second target working frequency.

[0120] In a possible implementation, the frequency tracking processing that matches the working state at the current moment is performed according to the working state of the ultrasonic knife at the current moment, including: when the working state of the ultrasonic knife at the current moment is a normal working state and the working state at the previous moment is a normal working state, determining the frequency adjustment amount at the current moment according to the phase difference at the current moment; or, when the working state of the ultrasonic knife at the current moment is a normal working state, determining the frequency adjustment amount at the current moment according to the phase difference at the current moment; wherein, when the phase difference is a positive number, the frequency adjustment amount is a negative number; when the phase difference is a negative number, the frequency adjustment amount is a positive number; the working frequency at the current moment is added to the frequency adjustment amount at the current moment to obtain a third target working frequency corresponding to the current moment, and adjust the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife to the third target working frequency.

[0121] According to the frequency tracking device of the embodiment of the present invention, the working state at the current moment is determined to be before or after the anti-resonance frequency through the working frequency at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment, or the working frequency, phase difference and impedance value at the current moment and the working state at the previous moment, or the working frequency, phase difference, impedance value at the current moment and the working state at the previous moment, to then use the frequency tracking processing that matches the working state to perform frequency tracking, which can enable the ultrasonic scalpel to successfully track the frequency at any starting frequency (even if the frequency tracking starting frequency is far from the resonant frequency but close to the anti-resonance frequency), especially after the mechanical vibration system (such as the ultrasonic scalpel head) of the ultrasonic scalpel is replaced, the frequency tracking can be successful without performing a scanning self-test, thereby improving the robustness of the ultrasonic scalpel frequency tracking and the ability of the ultrasonic scalpel to adapt to complex working conditions.

[0122] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0123] Based on the frequency tracking method and frequency tracking device provided in the above embodiments of the present disclosure, the embodiments of the present disclosure also provide an ultrasonic scalpel device, including: an ultrasonic scalpel host, an ultrasonic transducer, and an ultrasonic scalpel head mounted on the ultrasonic transducer; the ultrasonic scalpel host is configured as the frequency tracking method, or the ultrasonic scalpel host includes the frequency tracking device. It should be understood that the embodiments of the present disclosure do not limit the specific structure, type, etc. of the ultrasonic scalpel device.

[0124] The embodiment of the present disclosure also provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by the ultrasonic scalpel host, the above method is implemented. The computer-readable storage medium can be a volatile or non-volatile computer-readable storage medium.

[0125] The embodiment of the present disclosure also provides a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in an ultrasonic scalpel host, the ultrasonic scalpel host executes the above method.

[0126] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium on which are loaded computer-readable program instructions for enabling the ultrasonic scalpel host to implement various aspects of the present disclosure. The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to the ultrasonic scalpel host, or downloaded to the ultrasonic scalpel host via a network, such as the Internet, a local area network, a wide area network and / or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. The network adapter card or network interface in the ultrasonic scalpel host receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the ultrasonic scalpel host.

[0127] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the ultrasonic scalpel host, partially on the ultrasonic scalpel host, as a separate software package, etc. In some embodiments, by utilizing the state information of the computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit may execute the computer-readable program instructions, thereby implementing various aspects of the present disclosure.

[0128] Various aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each box of the flowchart and / or block diagram and the combination of boxes in the flowchart and / or block diagram can be implemented by computer-readable program instructions. These computer-readable program instructions can be provided to the ultrasonic scalpel host to produce a machine so that when these instructions are executed by the ultrasonic scalpel host, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, which enables the ultrasonic scalpel host to work in a specific manner, so that the computer-readable medium storing the instructions includes a product of manufacture, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0129] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the device, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0130] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A frequency tracking method for an ultrasonic scalpel, characterized in that: include: Acquire the working frequency, phase difference, impedance value of the ultrasonic scalpel at the current moment and the working state at the previous moment during the working process, wherein the working state represents a normal working state or an anti-resonance working state, wherein the normal working state includes the ultrasonic scalpel working before the anti-resonance frequency, and the anti-resonance working state includes the ultrasonic scalpel working after the anti-resonance frequency, and the anti-resonance frequency includes the working frequency when the phase difference is 0 and the impedance value is the maximum; Determine the working state of the ultrasonic scalpel at the current moment according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment; or determine the working state of the ultrasonic scalpel at the current moment according to the working frequency, phase difference of the ultrasonic scalpel at the current moment and the working state at the previous moment, or the working frequency, phase difference, impedance value at the current moment and the working state at the previous moment; According to the working state of the ultrasonic scalpel at the current moment, a frequency tracking process matching the working state at the current moment is performed to make the ultrasonic scalpel work at a resonant frequency, where the resonant frequency includes a working frequency when the phase difference is 0 and the impedance value is minimum.

2. The method according to claim 1, characterized in that Determining the working state of the ultrasonic scalpel at the current moment according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment, includes: When the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is less than or equal to the first phase difference threshold, and the impedance value at the current moment is greater than the first impedance threshold, it is determined that the working state of the ultrasonic scalpel at the current moment is the anti-resonance working state; or, When the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the phase difference at the current moment is less than or equal to 0, and the phase difference at the current moment and N historical moments before the current moment is negatively correlated with the working frequency, it is determined that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state, where N is a positive integer; or When the working frequency at the current moment is greater than or equal to the upper limit of the working frequency of the ultrasonic scalpel, it is determined that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state.

3. The method according to claim 1, characterized in that Determining the working state of the ultrasonic scalpel at the current moment according to the working frequency, phase difference and working state of the ultrasonic scalpel at the previous moment, or the working frequency, phase difference and impedance value at the current moment and working state at the previous moment, includes: When the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than the first phase difference threshold, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, determine the working state of the ultrasonic scalpel at the current moment according to the working state at the previous moment; or, When the phase difference at the current moment is less than or equal to 0, the impedance value at the current moment is less than or equal to the first impedance threshold, and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, determine the operating state of the ultrasonic scalpel at the current moment according to the operating state at the previous moment; or, When the phase difference at the current moment is less than or equal to 0, the phase difference at the current moment and the N historical moments before the current moment is not negatively correlated with the operating frequency, and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, determine the working state of the ultrasonic scalpel at the current moment according to the working state at the previous moment; or, When the phase difference at the current moment is greater than 0 and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment.

4. The method according to claim 3, characterized in that Determining the working state of the ultrasonic knife at the current moment according to the working state at the previous moment includes: In the case where the working state at the previous moment is a normal working state, determining that the working state of the ultrasonic knife at the current moment is a normal working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than the second phase difference threshold, it is determined that the working state of the ultrasonic knife at the current moment is the normal working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, determine that the working state of the ultrasonic knife at the current moment is the anti-resonance working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is less than the second impedance threshold, it is determined that the working state of the ultrasonic scalpel at the current moment is the normal working state; or, when the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is greater than 0, it is determined that the working state of the ultrasonic scalpel at the current moment is the normal working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is less than or equal to 0, determining that the working state of the ultrasonic knife at the current moment is the anti-resonance working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is greater than 0, determine that the working state of the ultrasonic knife at the current moment is the normal working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is less than or equal to 0, determining that the working state of the ultrasonic knife at the current moment is the anti-resonance working state; The second phase difference threshold is smaller than the first phase difference threshold, and the second impedance threshold is smaller than the first impedance threshold.

5. The method according to any one of claims 1 to 4, characterized in that: The performing frequency tracking processing matching the working state at the current moment according to the working state of the ultrasonic knife at the current moment comprises: When the ultrasonic scalpel is in an anti-resonance working state at the current moment, the first frequency step is subtracted from the current working frequency to obtain the first target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the first target working frequency.

6. The method according to any one of claims 1 to 4, characterized in that: The performing frequency tracking processing matching the working state at the current moment according to the working state of the ultrasonic knife at the current moment comprises: When the working state of the ultrasonic knife at the current moment is the normal working state and the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, the working frequency at the current moment is subtracted from the second frequency step to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the second target working frequency; or, When the working state of the ultrasonic knife at the current moment is the anti-resonance working state and the working state at the previous moment is the anti-resonance working state, the working frequency at the current moment is subtracted from the second frequency step to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the second target working frequency.

7. The method according to any one of claims 1 to 4, characterized in that: The performing frequency tracking processing matching the working state at the current moment according to the working state of the ultrasonic knife at the current moment comprises: In the case where the working state of the ultrasonic scalpel at the current moment is a normal working state and the working state at the previous moment is a normal working state, the frequency adjustment amount at the current moment is determined according to the phase difference at the current moment; or, in the case where the working state of the ultrasonic scalpel at the current moment is a normal working state, the frequency adjustment amount at the current moment is determined according to the phase difference at the current moment; wherein, when the phase difference is a positive number, the frequency adjustment amount is a negative number; and when the phase difference is a negative number, the frequency adjustment amount is a positive number; The current operating frequency is added to the frequency adjustment amount at the current moment to obtain a third target operating frequency corresponding to the current moment, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the third target operating frequency.

8. A frequency tracking device for an ultrasonic scalpel, characterized in that: include: an acquisition module, used to acquire the working frequency, phase difference, impedance value of the ultrasonic scalpel at the current moment and the working state at the previous moment during the working process, wherein the working state represents a normal working state or an anti-resonance working state, wherein the normal working state includes the ultrasonic scalpel working before the anti-resonance frequency, and the anti-resonance working state includes the ultrasonic scalpel working after the anti-resonance frequency, and the anti-resonance frequency includes the working frequency when the phase difference is 0 and the impedance value is the maximum; A determination module, used to determine the working state of the ultrasonic scalpel at a current moment according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment; or, determine the working state of the ultrasonic scalpel at the current moment according to the working frequency, phase difference of the ultrasonic scalpel at the current moment and the working state at the previous moment, or the working frequency, phase difference, impedance value at the current moment and the working state at the previous moment; The frequency tracking module is used to perform frequency tracking processing that matches the working state at the current moment according to the working state of the ultrasonic knife at the current moment, so that the ultrasonic knife works at a resonant frequency, and the resonant frequency includes the working frequency when the phase difference is 0 and the impedance value is minimum.

9. The device according to claim 8, characterized in that Determining the working state of the ultrasonic scalpel at the current moment according to the working frequency of the ultrasonic scalpel at the current moment, or the working frequency and phase difference at the current moment, or the working frequency, phase difference and impedance value at the current moment, includes: When the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is less than or equal to the first phase difference threshold, and the impedance value at the current moment is greater than the first impedance threshold, it is determined that the working state of the ultrasonic scalpel at the current moment is the anti-resonance working state; or, When the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the phase difference at the current moment is less than or equal to 0, and the phase difference at the current moment and N historical moments before the current moment is negatively correlated with the working frequency, it is determined that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state, where N is a positive integer; or When the working frequency at the current moment is greater than or equal to the upper limit of the working frequency of the ultrasonic scalpel, it is determined that the working state of the ultrasonic scalpel at the current moment is an anti-resonance working state.

10. The device according to claim 8, characterized in that Determining the working state of the ultrasonic scalpel at the current moment according to the working frequency, phase difference and working state of the ultrasonic scalpel at the previous moment, or the working frequency, phase difference and impedance value at the current moment and working state at the previous moment, includes: When the phase difference at the current moment is less than or equal to 0, the absolute value of the phase difference at the current moment is greater than the first phase difference threshold, and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, determine the working state of the ultrasonic scalpel at the current moment according to the working state at the previous moment; or, When the phase difference at the current moment is less than or equal to 0, the impedance value at the current moment is less than or equal to the first impedance threshold, and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, determine the operating state of the ultrasonic scalpel at the current moment according to the operating state at the previous moment; or, When the phase difference at the current moment is less than or equal to 0, the phase difference at the current moment and the N historical moments before the current moment is not negatively correlated with the operating frequency, and the operating frequency at the current moment is less than the upper limit of the operating frequency of the ultrasonic scalpel, determine the working state of the ultrasonic scalpel at the current moment according to the working state at the previous moment; or, When the phase difference at the current moment is greater than 0 and the working frequency at the current moment is less than the upper limit of the working frequency of the ultrasonic scalpel, the working state of the ultrasonic scalpel at the current moment is determined according to the working state at the previous moment.

11. The device according to claim 10, characterized in that Determining the working state of the ultrasonic knife at the current moment according to the working state at the previous moment includes: In the case where the working state at the previous moment is a normal working state, determining that the working state of the ultrasonic knife at the current moment is a normal working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is greater than the second phase difference threshold, it is determined that the working state of the ultrasonic knife at the current moment is the normal working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, determine that the working state of the ultrasonic knife at the current moment is the anti-resonance working state; or, When the working state at the previous moment is the anti-resonance working state, the phase difference at the current moment is equal to 0, and the impedance value at the current moment is less than the second impedance threshold, determining that the working state of the ultrasonic knife at the current moment is the normal working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is greater than 0, determining that the working state of the ultrasonic knife at the current moment is the normal working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is less than 0 and the phase difference at the previous moment is less than or equal to 0, determining that the working state of the ultrasonic knife at the current moment is the anti-resonance working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is greater than 0, determine that the working state of the ultrasonic knife at the current moment is the normal working state; or, When the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is equal to 0 and the impedance value at the current moment is greater than or equal to the second impedance threshold and the phase difference at the previous moment is less than or equal to 0, determining that the working state of the ultrasonic knife at the current moment is the anti-resonance working state; The second phase difference threshold is smaller than the first phase difference threshold, and the second impedance threshold is smaller than the first impedance threshold.

12. The device according to any one of claims 8 to 11, characterized in that The performing frequency tracking processing matching the working state at the current moment according to the working state of the ultrasonic knife at the current moment comprises: When the ultrasonic scalpel is in an anti-resonance working state at the current moment, the first frequency step is subtracted from the current working frequency to obtain the first target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic scalpel is adjusted to the first target working frequency.

13. The device according to any one of claims 8 to 11, characterized in that The performing frequency tracking processing matching the working state at the current moment according to the working state of the ultrasonic knife at the current moment comprises: When the working state of the ultrasonic knife at the current moment is the normal working state and the working state at the previous moment is the anti-resonance working state and the phase difference at the current moment is greater than 0 and the absolute value of the phase difference at the current moment is less than or equal to the second phase difference threshold, the working frequency at the current moment is subtracted from the second frequency step to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the second target working frequency; or, When the working state of the ultrasonic knife at the current moment is the anti-resonance working state and the working state at the previous moment is the anti-resonance working state, the working frequency at the current moment is subtracted from the second frequency step to obtain the second target working frequency corresponding to the current moment, and the working frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the second target working frequency.

14. The device according to any one of claims 8 to 11, characterized in that The performing frequency tracking processing matching the working state at the current moment according to the working state of the ultrasonic knife at the current moment comprises: When the working state of the ultrasonic scalpel at the current moment is a normal working state and the working state at the previous moment is a normal working state, the frequency adjustment amount at the current moment is determined according to the phase difference at the current moment; or, when the working state of the ultrasonic scalpel at the current moment is a normal working state, the frequency adjustment amount at the current moment is determined according to the phase difference at the current moment; wherein, when the phase difference is a positive number, the frequency adjustment amount is a negative number; when the phase difference is a negative number, the frequency adjustment amount is a positive number; The current operating frequency is added to the frequency adjustment amount at the current moment to obtain a third target operating frequency corresponding to the current moment, and the operating frequency of the driving signal input to the ultrasonic transducer in the ultrasonic knife is adjusted to the third target operating frequency.

15. An ultrasonic knife device, comprising: An ultrasonic scalpel host, an ultrasonic transducer and an ultrasonic scalpel head mounted on the ultrasonic transducer; characterized in that the ultrasonic scalpel host is configured to execute the frequency tracking method described in any one of claims 1 to 7, or the ultrasonic scalpel host includes the frequency tracking device described in any one of claims 8 to 14.

Images